/*?Euclidean?bundle?adjustment?demo?using?the?sba?package?*/

#include?
#include?
#include?
#include?
#include?

#include?“../sba/sba.h“
#include?“../sba/compiler.h“
#include?“eucsbademo.h“
#include?“readparams.h“

#define?CLOCKS_PER_MSEC?（CLOCKS_PER_SEC/1000.0）

#define?MAXITER?????????100
#define?MAXITER2????????150


/*?pointers?to?additional?data?used?for?computed?image?projections?and?their?jacobians?*/
struct?globs_{
	double?*rot0params;?/*?initial?rotation?parameters?combined?with?a?local?rotation?parameterization?*/
	double?*intrcalib;?/*?the?5?intrinsic?calibration?parameters?in?the?order?[fu?u0?v0?ar?skew]
??????????????????????*?where?ar?is?the?aspect?ratio?fv/fu.
??????????????????????*?Used?only?when?calibration?is?fixed?for?all?cameras;
??????????????????????*?otherwise?it?is?null?and?the?intrinsic?parameters?are
??????????????????????*?included?in?the?set?of?motion?parameters?for?each?camera
??????????????????????*/
??int?nccalib;?/*?number?of?calibration?parameters?that?must?be?kept?constant.
????????????????*?0:?all?parameters?are?free?
????????????????*?1:?skew?is?fixed?to?its?initial?value?all?other?parameters?vary?（i.e.?fu?u0?v0?ar）?
????????????????*?2:?skew?and?aspect?ratio?are?fixed?to?their?initial?values?all?other?parameters?vary?（i.e.?fu?u0?v0）
????????????????*?3:?meaningless
????????????????*?4:?skew?aspect?ratio?and?principal?point?are?fixed?to?their?initial?values?only?the?focal?length?varies?（i.e.?fu）
????????????????*?5:?all?intrinsics?are?kept?fixed?to?their?initial?values
????????????????*?>5:?meaningless
????????????????*?Used?only?when?calibration?varies?among?cameras
????????????????*/

??int?ncdist;?/*?number?of?distortion?parameters?in?Bouguet‘s?model?that?must?be?kept?constant.
???????????????*?0:?all?parameters?are?free?
???????????????*?1:?6th?order?radial?distortion?term?（kc[4]）?is?fixed
???????????????*?2:?6th?order?radial?distortion?and?one?of?the?tangential?distortion?terms?（kc[3]）?are?fixed
???????????????*?3:?6th?order?radial?distortion?and?both?tangential?distortion?terms?（kc[3]?kc[2]）?are?fixed?[i.e.?only?2nd?&?4th?order?radial?dist.]
???????????????*?4:?4th?&?6th?order?radial?distortion?terms?and?both?tangential?distortion?ones?are?fixed?[i.e.?only?2nd?order?radial?dist.]
???????????????*?5:?all?distortion?parameters?are?kept?fixed?to?their?initial?values
???????????????*?>5:?meaningless
???????????????*?Used?only?when?calibration?varies?among?cameras?and?distortion?is?to?be?estimated
???????????????*/
??int?cnp?pnp?mnp;?/*?dimensions?*/

	double?*ptparams;?/*?needed?only?when?bundle?adjusting?for?camera?parameters?only?*/
	double?*camparams;?/*?needed?only?when?bundle?adjusting?for?structure?parameters?only?*/
}?globs;

/*?unit?quaternion?from?vector?part?*/
#define?_MK_QUAT_FRM_VEC（q?v）{?????????????????????????????????????\
??（q）[1]=（v）[0];?（q）[2]=（v）[1];?（q）[3]=（v）[2];??????????????????????\
??（q）[0]=sqrt（1.0?-?（q）[1]*（q）[1]?

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件???????3633??2004-09-30?16:33??sba-1.6\demo\54cams.txt

?????文件???????6001??2008-01-07?23:36??sba-1.6\demo\54camsvarK.txt

?????文件???????7091??2009-08-31?18:55??sba-1.6\demo\54camsvarKD.txt

?????文件?????776527??2004-09-30?16:33??sba-1.6\demo\54pts.txt

?????文件????????460??2004-09-08?22:25??sba-1.6\demo\7cams.txt

?????文件????????806??2008-01-07?23:33??sba-1.6\demo\7camsvarK.txt

?????文件??????60389??2004-09-08?22:25??sba-1.6\demo\7pts.txt

?????文件????????594??2004-09-08?22:25??sba-1.6\demo\9cams.txt

?????文件???????1026??2008-01-07?23:37??sba-1.6\demo\9camsvarK.txt

?????文件??????75483??2004-09-08?22:25??sba-1.6\demo\9pts.txt

?????文件?????????85??2004-09-08?22:25??sba-1.6\demo\calib.txt

?????文件??????66580??2015-02-11?22:55??sba-1.6\demo\eucsbademo.c

?????文件???????2227??2009-08-25?19:16??sba-1.6\demo\eucsbademo.h

?????文件??????55017??2009-05-07?20:27??sba-1.6\demo\imgproj.c

?????文件??????11542??2009-08-31?21:28??sba-1.6\demo\README.txt

?????文件??????19516??2009-08-31?18:36??sba-1.6\demo\readparams.c

?????文件???????1299??2009-08-31?18:36??sba-1.6\demo\readparams.h

?????目錄??????????0??2015-02-11?23:38??sba-1.6\demo

?????文件?????133320??2013-08-17?17:02??sba-1.6\documentation\heikkila97.pdf

?????文件?????529139??2013-12-26?12:24??sba-1.6\documentation\imm3215.pdf

?????文件?????529139??2013-08-14?14:58??sba-1.6\documentation\Madsen_lecture_notes.pdf

?????文件?????682719??2013-08-11?16:37??sba-1.6\documentation\PRCV_colloq.pdf

?????文件????1724730??2014-01-01?22:47??sba-1.6\documentation\sba-toms.pdf

?????文件????????296??2013-12-26?16:18??sba-1.6\documentation\文檔說(shuō)明.txt

?????目錄??????????0??2015-02-11?23:30??sba-1.6\documentation

?????文件???16456182??2000-12-28?14:50??sba-1.6\lib\clapack.lib

?????目錄??????????0??2015-02-11?23:38??sba-1.6\lib

?????文件???????1702??2008-05-22?00:45??sba-1.6\sba\compiler.h

?????文件???????3164??2009-08-06?21:44??sba-1.6\sba\README.txt

?????文件???????7489??2009-08-20?20:22??sba-1.6\sba\sba.h

............此處省略22個(gè)文件信息